Mobile base and X-ray machine mounted on such a mobile base

ABSTRACT

A mobile base designed to receive an X-ray machine is provided. An X-ray machine capable of being mounted on the mobile base is also provided. The X-ray machine of the invention is configured to move using a motor-driven system associated with a navigation system. The navigation system of the invention enables the X-ray machine to be moved automatically and with precision from one position to another within an examination, hybrid or operation room. The X-ray machine is also configured for the automatic positioning of the moving parts around the patient, while at the same time keeping the region to be subjected to radiography within an X-ray beam.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.14/867,256, filed Sep. 28, 2015, which is a continuation of U.S.application Ser. No. 13/513,315 filed Jun. 1, 2012, now U.S. Pat. No.9,173,628, which is a filing under 35 U.S.C. § 371(c) and claimspriority to international patent application number PCT/IB2010/003012,filed on Nov. 4, 2010, published on Jun. 9, 2011, as WO 2011/067648,which claims priority to French Patent Application Serial No. 0958556,filed Dec. 1, 2009, now French Patent No. 2953119, all of which areincorporated herein by reference in their respective entireties.

BACKGROUND OF THE INVENTION

Field of the Invention

Embodiments of the subject matter disclosed herein generally relate to amobile base designed to receive an X-ray machine. An object ofembodiments of the present invention is also an X-ray machine that canbe mounted on said mobile base. Embodiments of the present inventionfind application in medical imaging, and more particularly in the fieldof medical diagnostic apparatuses.

The X-ray machine of the invention is designed especially for a hospitalward, such as a surgical ward, an anesthetic room, a diagnostic unit, anintensive care unit or a ward known as a hybrid ward used to meet therequirements of both angiography rooms and operation rooms.

Description of the Related Art

In the prior art, X-ray diagnostic machines are X-ray image acquisitionmachines. These machines are used to obtain images or even sequences ofimages of an organ situated inside a living being, especially a humanbeing.

In the prior art, X-ray machines have moving parts that enable them torotate about the patient in different directions. These moving parts arecapable of moving in all three dimensions of a space. These moving partsgenerally consist of an arm having an X-ray tube at one of its ends anda detector at the other one of its ends. This tube sends out an X-raybeam along a direction of emission.

These X-ray machines are used for angiography examinations fordiagnostic or interventional purposes.

During these examinations, it is necessary to take X-ray exposures ofthe region undergoing diagnosis or intervention. To this end, thepatient is positioned between the X-ray tube and the detector and morespecifically he or she is placed that the region to be X-rayed is in afacing position.

There presently exist several types of X-ray machines used to carry outthe radiography exposures, for example X-ray machines fixed to theground in an examination room. These X-ray machines have several degreesof freedom by which the X-ray beam can be positioned before the regionof interest. However, this type of X-ray machine is not suited to anoperating ward. Indeed, for certain examinations, X-rays are needed onlyat the beginning and at the end of the operation. In between these twopoints, the emphasis is on access to the patient. Since theseangiography machines are fixed to the ground, they cannot be moved awayfrom the patient support table or bed at a time when the presence of theradiography system is not necessary. Furthermore, the stages of placingand moving the patient on the table become more difficult because thisbulky system cannot be moved away.

There also exist X-ray machines called “mobile surgical units” that canbe moved manually. These machines generally have a large trolleysupporting a large number of batteries used to power the X-ray tube.However, this type of X-ray machine has drawbacks. Indeed, thesemachines are not suited to angiography procedures. For the necessarypower delivered by the X-ray tube is not sufficient to perform theangiography procedures which require excellent image quality.

Furthermore, these mobile X-ray machines do not provide for complexangular movements because the diameter of the arm that supports the tubeand the detector is not big enough. Similarly, these mobile X-raymachines do not reach sufficient rotation speeds to enable high quality3D image reconstruction like those needed in a present-day angiographymachine. These mobile X-ray machines are also not suited to angiographyprocedures requiring certain automated motions needed for certainapplications, especially 3D reconstruction.

Furthermore, even if the weight of such a machine is half that of anX-ray machine intended for angiography, it is still very difficult tomove because of its large size and its weight (about 300 kg).

There are also X-ray machines for angiography that are suspended fromthe ceiling and can be moved on rails all along the ceiling, through amobile trolley and by means of an electrical motor. However, this typeof X-ray machine has drawbacks. Indeed, an operation room generally hasa patient's support table, lighting means, systems to distribute medicalfluids, supports for anesthetic equipment, supports for electricalscalpels and supports for perfusion pumps. Most of these systems arefixed to the ceiling around the patient's table depending on theconstraints of an operations room, thus cluttering the space around thepatient's table. Consequently, owing to the space requirement of therails fixed to the ceiling and the volume of the X-ray machine, theirinstallation in a surgical ward as an angiography machine is quiteimpossible.

Furthermore, the fact of mounting an X-ray machine on the ceilingconsiderably increases the risk of opportunistic infection in thepatient. Indeed, these X-ray machines suspended on the ceiling aredesigned to be positioned above the patient or in his immediate vicinityand therefore in the immediate vicinity of the operating site thusincreasing the risk of particles falling from the machine.

Furthermore, this fact of suspending the X-ray machine or machine givesrise to difficulties in cleaning and maintaining this machine properly.Thus, it becomes impossible to mount this type of X-ray machine adaptedto environments of varying sterility. Indeed, operating rooms areconstantly sterilized and the fact of having rails on which the X-raymachine slides above the patient increases the risks of nosocomialillness or septicemia owing to the difficulty of cleaning theseapparatuses

Furthermore, in certain surgical wards, a sterile laminar flow is set upabove the patient. In this case, the rails enable the machine to be madeto slide on the ceiling with the laminar flow, and this has the effectof blowing particles present on the into the sterile zone.

There also exist X-ray machines for angiography based on the technologyof industrial robots generally found in automobile plants. However,X-ray machines of this type have drawbacks. Indeed, the arms fitted tothese robots generally have a relatively substantial space requirementfor the space available in as surgical ward. Consequently, the movementof these arms creates risks of safety for people working in a surgicalward. Consequently, the installation of these robots as angiographymachines in a surgical ward is quite impossible.

The need has become felt for some time now for an X-ray machine suitedto what are called hybrid rooms, making it possible: firstly to meet theneeds of angiography, especially by a system equipped with an X-ray tubehaving sufficient power to enable high image quality and 3Dreconstruction, and secondly to meet the needs of operating, roomsespecially through a system that is capable of moving the X-ray machine

BRIEF SUMMARY OF THE INVENTION

According to an embodiment of the present invention, a mobile base onwhich is mounted an X-ray machine comprising an X-ray tube configured toemit an X-ray beam along a direction of emission, and an X-ray detectoraligned in the direction of emission of the X-ray beam and positioned toface the X-ray tube, is provided. The mobile base comprises: twoorientable drive wheels driven respectably by a traction motor and adirection motor; a processing unit coupled to the traction motor and thedirection motor, wherein the processing unit is configured to input aninstruction value on destination, an instructed value on trajectory anddata on position of the X-ray machine, and to generate as an output arespective direction and speed for each drive wheel; and at least onesensor configured to provide the data on position of the X-ray machine.

According to another embodiment of the present invention, an X-raymachine is provided. The X-ray machine comprises: an X-ray tubeconfigured to emit an X-ray beam along a direction of emission; an X-raydetector aligned in the direction of emission of the X-ray beam andpositioned to face the X-ray tube, wherein the X-ray machine is mountedon a mobile base comprising: two orientable drive wheels drivenrespectably by a traction motor and as direction motor; a processingunit couple to the traction motor and the direction motor, wherein theprocessing unit is configured to input an instruction value ondestination, an instructed value on trajectory and data on position ofthe X-ray machine, and to generate as an output a respective directionand speed for each drive wheel; and at least one sensor configured toprovide the data on position of the X-ray machine.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention will be understood more clearly from the followingdescription and from the accompanying figures. These figures are givenpurely by way of an indication and in no way restrict the scope of theinvention,

FIGS. 1 and 2 are a schematic representation of a vascular type X-raymachine mounted on a mobile base, according to an embodiment of theinvention.

FIG. 3 is a schematic view of a support structure of a mobile base onwhich the X-ray machine is mounted, according to an embodiment of theinvention.

FIG. 4 is a schematic illustration of modules for implementing theoperation of the X-ray machine controlled by a processing unit,according to an embodiment of the invention.

FIG. 5 is a schematic and detailed view of the processing unit of FIG.4.

FIG. 6 is a schematic view of a man-machine interface of the X-raymachine used to enter instructed values of destination for saidapparatus, according to an embodiment of the invention.

FIG. 7 is a schematic view of the X-ray machine moved by means of themobile base in a room along a predefined path, according to anembodiment of the invention.

FIG. 8 is a graphic representation of an absolute position of the mobilebase in a fixed Cartesian reference system, according to an embodimentof the invention.

FIG. 9 is a perspective view of the freewheel system according to anembodiment of the invention.

DETAILED DESCRIPTION OF THE INVENTION

FIG. 1 shows a vascular type X-ray machine 10 in an examination room orsurgical ward or hybrid room represented in the form of a framereferenced 9. The X-ray machine 10 has moving parts that can rotate indifferent directions around a patient. These moving parts are capable ofmoving in all three dimensions of a space. These moving parts are formedin general by an arm 13 comprising an X-ray tube 11, which is the X-raysource, at one of its ends and a detector 12 at another of its ends.This tube 11 is used to send an X-ray beam along a direction ofemission. In general, the arm 13 is C-shaped.

The detector 12 is hooked to the arm 13 opposite the tube 11 and in thedirection of emission. The X-ray tube 11 and the image detector 12 aremounted at the opposite ends of the arm 13 so that the X-rays emitted bythe tube 11 are incidental to and detected by the image detector 12. Thedetector 12 is connected to a lift 19 used to raise and lower saiddetector in the direction of emission.

The room 9 also has an examination table 14, or a bed, on which apatient reclines. The examination table 14 can be mounted on a frame 15fixed to the ground. The examination table 15 can also be an operationtable with a moveable frame.

During a radiography examination, the X-ray machine 10 is shifted inposition in working mode so that the organ to be examined is positionedin the X-ray beam.

The arm 13 is mounted on a mobile base 16 through a support element 17.The support element 17 is mounted fixedly on the mobile base 16. The arm13 is connected to the support element 17 by means of a rotating arm 18.The arm 13 is mounted so as to be sliding relative to the rotating arm18. & The rotating arm 18 rotates about an axis passing through theX-ray beam. This rotating assembly of the arm 18 on the element 17enables the X-ray tube 11 and the image detector 12 to be shiftedrotationally around the arc of the rotating arm 18. The support element17, the rotating arm 18 and the arm 13 are thus all three hingedrelative to one another. This hinging enables the X-ray machine 10 tomove in three dimensions. This movement in three dimensions of themoving parts of the X-ray machine 10 is used to achieve images of theorgan to be examined at different values of incidence.

By combining the rotational motions of the moving parts of the X-raymachine 10, the X-ray beam can describe all the directions of emissionof the X-rays included within a sphere whose center correspondsapproximately to an isocenter 69 of the X-ray machine 10 with a diametersubstantially equal to the distance between the tube 11 and the detector12. The isocenter 69 is situated in a space included between the X-rayemission tube 11 and the X-ray reception detector 12. The isocenter 69corresponds to the center of the arc of a circle made by the arm 13. Themobile base 16 is designed to move the X-ray machine 10 on the ground.The mobile base 16 is controlled automatically by a processing unit 50.This processing unit 50 can be embedded in the mobile base or kept at adistance in a control room which can be situated outside the examinationroom 9. In the latter case, the mobile base 16 can be controlled througha radiofrequency or wire type connection using any type ofcommunications protocol.

FIG. 2 provides a detailed view of the characteristics of the mobilebase 16. As illustrated in FIG. 3, the mobile base 16 has a supportstructure 39. This structure may comprise several parts joined byscrewing or by soldering. This structure 39 may also be a cast element.This support structure 39 has a set of structural pans whose joining andgeometrical configuration are designed so that: a suitable support onthe ground is provided for the mobile base 16 by a deformation of theset of structural parts forming the support structure 39, and the mobilebase 16 is given the rigidity that is necessary and sufficient toeliminate the problem of hyperstatism which may be caused by the fourwheels of the mobile base 16 laid on the ground. The structural support30 ensures that all four wheels of the mobile base 16 will bepermanently in contact with the ground, supporting the apparatuses ofthe mobile base 16 which may be especially motors, wheels, a man-machineinterface etc. The layout of these apparatuses in the support structure39 is also designed so that the weight of the support structure 39 andof the apparatuses balances the weight of the X-ray machine 10.

The purpose of this balancing is to ensure the stability of the X-raymachine X-rays, even during a shift of the moving parts of said machine.The mobile base 16 thus has the role of a counterweight which means thatis can maintain the static and dynamic stability of the X-ray machine10, the apparatuses and the support structure 39. In one example, theweight of the base mobile may be in the range of 500 kg relative to theweight of the X-ray machine 10 which may be in the range of 300 kg.

The support structure 39 has a supporting area 20 extending along thelongitudinal direction Yo of a Cartesian reference system Ro. Thesupporting arm 20 has, for example, a substantially tubular shape. Inone embodiment, the supporting arm 20 is one meter high and has arectangular section of 30 cm by 20 cm.

At one upper end 21, the supporting arm 20 has joining means 22,geometrically and structurally designed so as to receive the supportelement 17. In the example illustrated by the figures, the joining means22 and the support element 17 are circular. The joining, means 22 may befixed to the support element 17, for example by a screw/nut system or bysoldering.

In a preferred embodiment, the mobile base 16 has a receiving means on aface 23 opposite the joining means 22. On these receiving means, it ispossible to mount a man/machine interface 24. FIG. 6 shows an example ofa man/machine interface 24.

The support structure 39 has a set 26 of rigid metal structures restingon the ground by means of wheels 36, 37 and 38. This set 26 is joinedwith the supporting arm 20. A front part of the set 26 is substantiallyV-shaped in the horizontal position. The set 26 has a baseplate 27situated on a rear part of the Y-shape fixedly joined to a crossbar 40.This baseplate 27 is the structural part connecting the set 26 to thesupporting arm 20.

The bar 40 is fixedly joined to an element formed by two arms 28 and 29having a corner. The fixed joining can be obtained by soldering or anyother type of fastening system. For reasons of resistance to stresses,it is generally necessary to line the edges of the arms 28 and 29 andthe edges of the crossbar 40 with a vertical reinforcement part 41 whichis a rigid lateral metal strip.

The baseplate 27 has a vertical frame 30 supporting a horizontal plate31 equipped with two turret features 52 shown in FIG. 4. A lower end 25of the supporting arm 20 is fixed to the frame 30. This fastening can beobtained by soldering or any other type of fastening system.

The choice of the materials, the dimensions, the shape and thethicknesses of the parts of the unit 26, the vertical reinforcementpieces 41 as well as the layout of these parts and reinforcement pieceswithin the internal structure provides mechanical characteristics ofrigidity to the unit 26 relative to the supporting arm 20. Thesemechanical characteristics of rigidity are designed to compensate forchanges in shape due to the weight of the machine 10 supported by themobile base 16 and to absorb vibrations and secondarily the noise of theX-ray machine 10. These mechanical characteristics enable the formationof points of stabilization of the X-ray machine 10 at the ends of thearms 28 and 29 and the baseplate 27.

In one example, the angle formed by the two arms 28 and 29 may be of theorder of 90 degrees and the height of the vertical reinforcement parts41 may be of the order of 20 centimeters.

In one embodiment, the flexible and noise-free material may furthermorebe inserted at the point where the crossbar 40 is fixedly joined to theframe 30 of the baseplate 27. This addition of flexible material isdesigned to reinforce the deformation of the support structure 39providing for a balanced support to the four wheels on the ground. Thisaddition of flexible material also improves the mechanicalcharacteristics of rigidity of the set 26 relative to the supporting arm20. In one embodiment, the flexible material is rubber. In oneembodiment, the supporting arm 20 and the Y-shaped unit 26 are made ofsteel.

Each of the two turret features 52 rotates about a vertical axis V. Eachturret is equipped respectively with a traction motor 34 and 35 and adirection motor 42 and 43. A wheel 36 is driven by the two motors,namely the traction motor 34 and the direction motor 42. A wheel 37 isdriven by the two motors, namely the traction motor 35 and the directionmotor 43. The direction motors 42 and 43 respectively provide forrotation of the wheel 36 and 37 on the vertical axis.

The mobile base 16 supports the two driving motor turret features 52.The two turret features 52 are fixed to the horizontal plate 31. To thisend, the horizontal plate 31 has two holes 32 and 33 configured so as torespectively receive one of the two turret features 52. Each of the twoturret features 52 can be controlled independently of the other.

The wheel 36 rotates at the speed A and is oriented at an angle α and awheel 37 rotates at the speed B and is oriented at an angle β. Thespeeds A and B are often different and the angles α and β are oftendifferent. These different speeds and angles of the two drive wheels 36and 37 enable the X-ray machine 10 to be moved in an examination room 9,in minimizing the volume traversed by said apparatus to the maximumextent. Indeed, the rotational center of the machine 10 can be placedanywhere by means of the different speeds and angles of the two wheels36 and 37. This independence also enables the machine 10 to moveparallel to the set 26. In general, the different speeds and angles ofthe two wheels 36 and 37 provide for all possible movements in anexamination room 9.

The mobile base 16 furthermore has a freewheel system. This system hastwo free wheels 38 respectively mounted on a face before the ground ofone end of each arm 28 and 29 of the counterweight system 26. These twofreewheels 38 mounted rotationally are capable of undergoing rotationalmovements induced by the drive wheels 36 and 37.

The mobile base 16 thus has four multidirectional wheels so as to beable to move the machine 10 in every direction. These wheels are placed,symmetrically in sets of two, with the freewheel system whichconstitutes the from train and the driving and directional wheels 36 and37 which constitute the rear train. In one alternative embodiment, thewheels may be placed asymmetrically.

FIG. 9 shows a large-scale view in perspective of an example of afreewheel 38 mourned on the arm 28. It is known that this assembly isidentical for the arm 29.

A cover 44 is designed to receive a rotation pin 47 of the wheel 38. Anupper part 46 of the cover 44 is mounted, beneath the arm 28, so as topivot about a vertical rotation axis 48. This pivoting assembly can beobtained by means of a screw/nut fastening system providing for onedegree of freedom in rotation. A spacer 45 may go through a space madein the arm 28 to block the nut while at the same time enabling therotation of the rotational axis 48.

The vertical rotation axis 48 of the freewheel 38 is fixed so as to havean axis that is offset relative to the supporting base of the freewheel38 on the ground. When the mobile base 16 is shifted in a determineddirection, each free wheel gets oriented by rotation about the verticalrotation axis 48 so as to prevent the freewheel 38 from getting jammed.

The freewheel system may furthermore include a braking device designedto block the rotation of the freewheels 38 firstly about the verticalrotation axis 48 and secondly about the rotation shaft 47. In theexample of FIG. 9, the cover 44 has a braking device 49 comprising ablocking unit which is herein fixed to the peak of its lower part. Thisbreaking device 49 can be controlled manually or remotely for example bymeans of the control unit 50. The braking device 49 is configured sothat its actuation causes the rotation of the wheels 38 to stop andimmobilizes it by blocking the rotation of the axis 48 and the shaft 47.

Thus, when the machine 10 is in the working position and at a stop, thefact that the freewheels 38 are immobilized prevents them from movingduring the phases of acceleration and deceleration of the moving partsof the machine 10.

The braking device 49 can be mounted in the rotation shaft 47 of thewheel 38 or at the spacer 45 and in the rotation axis 48. It can be madeby any type of existing braking device whose function is to stop thewheel 38 and to keep it stopped.

With the invention, it is thus possible to easily change the region ofinterest to be examined by: shifting the mobile base 16 from one workingposition to another by means of the driving and steerable wheels 36 and37, and moving the moving parts to another given orientation while atthe same time keeping the organ to be examined under the X-ray beam.

It must be noted that the element with the arms 28 and 29 is positionedat a sufficient distance from the X-ray tube so that its front end,supporting the freewheels 38, do not come into collision with the hoodof the tube 11 in any of the positions that it may take. Thisconfiguration makes it possible to increase the distance between thetube 11 and the isocenter 69 of the X-ray machine 10. Through theshifting of the arm 13 along the arc, the tube 11 and the detector 12can rotate about the isocenter 69 while at the same time keeping theirface-to-face relationship. The tube 11 and the detector 12 arepositioned on either side of the patient, generally one of theseelements being on top of the patient and the other beneath the table 14which is transparent to X-rays. An increase in the distance between thetube 11 and the isocenter 69 releases the space situated beneath thetable 14 relative to the isocenter in order to enable not only theplacing of one of these elements but also its movement according todifferent, at times complex, angulations.

This increase in distance between the tube 11 and the isocenter 69 makesit possible to obtain an X-ray machine 10 capable of carrying outcomplex angulations and 3D reconstructions of organs situated at theperiphery of the body, for example the patient's liver. According tothis embodiment of the invention, the distance between the tube 11 andthe isocenter 69 may be increased by about 10% as compared with anexisting X-ray machine that is fixed to the ground and has the samemechanical geometry.

FIG. 4 is a block diagram of the working of the mobile base 16controlled by the processing unit 50. In the example of FIG. 4, only oneof the turret features 52 is represented, it being understood that thesecond turret feature which is not represented works identically. Inthis example, the turret feature 52 that is shown comprises the tractionmotor 34 and the direction motor 32 which are designed to drive thewheel 36.

The processing unit 50 is represented in detail in FIG. 5. Theprocessing unit 50 is connected to the DC or rectified power source 51.This source 51 may also be a rechargeable battery.

The processing unit 50 communicates especially with the interface 24and/or supervision computer which sends it especially the instructedvalues on destination.

In one embodiment, the processing unit 50 and the interface 24 areconnected through a communications bus 88.

In one alternative embodiment, the interface 24 may be set away from themobile base 16. In this case, it may be placed on the examination table14. The communications between the processing unit and the interface 24set at a distance may be obtained by means of a wireless link. Thewireless link may be of any type without departing from the framework ofthe invention. For example it may be an infrared, ultrasonic, orradiofrequency link, based for example on an industrial standard such asthe ZigBee standard or a proprietary standard or again it may beobtained in a frequency band associated with a given protocol such asWi-Fi Bluetooth etc. To this end, the processing unit 50 has an antenna52 which enables it to obtain a radio electrical link with the interface24 set at a distance.

Communications between the interface 24 set at a distance and theprocessing unit 50 can also be obtained through a wire link.

A representation of the man-machine interface 24 is illustrated in FIG.6. FIG. 6 shows a top view of the mobile base 16. The man-machineinterface 24 herein is a touchscreen 53. In on variant, this interface24 may be a screen associated with a keyboard. The interface 24 may bepowered by the source 51. In one variant, it may be powered by adistinct energy source.

This touchscreen 53 has interface controls 54 displayed on the screen.These interface controls 54 correspond to predefined working and parkingpositions of the X-ray machine 10 in the room 9. The controls 54 may bedisplayed on the screen 53 by letters, figures or by a graphicrepresentation. This interface 24 is aimed at making it easy for anoperator to enter an instructed value of destination by pressing one ofthe interface controls 54 displayed on the screen 53. This interface 54is complemented by a set of control buttons such as emergency stopbuttons 55 or buttons for starting the mobile base 16.

The processing unit 50 is coupled to an optical position sensor 56. Theoptical position sensor 56 is mounted on an upper end of a connectionpole 57. A lower end of the connection pole 57 is fixed to thesupporting arm 20 of the mobile base 16. In one variant, the connectionpole 57 may be fixed to the horizontal plate 31 in the vicinity of thesupporting arm 20. This type of mounting of the pole 57 removes the needto transmit the vibrations of the supporting arm 20 to the sensor 56.

The optical sensor 56 is used to measure an angle or an angular speedabout at least one axis. It can also be used for the precisionmeasurement of the position of the X-ray machine 10 relative to apredefined fixed reference system Ro (Xo, Yo).

The optical sensor 56 shown in FIG. 2 has a general optical constitutionthat is known and will therefore be described only very briefly. Theoptical sensor 56, here below called gyrolaser, generally has inter aliaa laser emitter device and a system for the rotation of the emitterdevice. The emitter device emits a pulsed incident laser beam 68.

As can be seen in FIG. 7, the room 9 is preliminarily provided withlaser beam reflectors 58 placed at predetermined positions. Thesereflectors 58 may be catadioptric reflectors. The reflectors 58 areplaced on the demarcating walls of the room 9 at a height such that theycan detect the incident laser beam 68.

The positioning distance between two successive reflectors 58 isdetermined so as to increase the precision of the gyrolaser 56. In oneexample, the reflectors 58 may be at a height of about 2.5 m from theground and the minimum distance between two reflectors may be in therange of 2 m. In a room 9 having surface area of about 60 m², the numberof reflectors 58 may be of the order of 10.

When the incident laser beam 68 encounters a reflector 58, thisreflector 58 reflects towards the gyrolaser 56 which has a system forreading reflected laser beams.

The reading system 59 has means to measure the time taken by theincident beam to return to the gyrolaser 56. These measuring means arecapable of determining a distance with precision on the basis of thetime measured. The measuring means associate the determined distancewith an angular position by means of an optical encoder which is preciseto a tenth of a degree. To this end, a card comprising positions(coordinates in the fixed reference system) of the set of reflectors 58is recorded beforehand in a data memory (not shown) of the readingsystem 59. Depending on the position of the reflectors 58 that haveemitted the reflections received and on the angular speed, the readingsystem 59 computes the angle Ω of orientation of the machine 10.

The reading system 59 also has computation means capable of determiningan absolute position of the gyrolaser 56 corresponding to that of theX-ray machine 10 as a function of the reflections received in one turnof the emission device and of the chart of positions of the reflectors58 recorded in the data memory.

The reading system 59 may be a computer. The actions performed by thisreading system 59 are arranged in order by a microprocessor (not shown).The microprocessor, in response to the instruction codes recorded in amemory, produces the angle α and the coordinates of the X-ray machine inthe fixed referential system.

FIG. 8 is a graphic representation of the X-ray machine 10 in aCartesian reference system. The orientation of the machine 10 isidentified by the angle Ω which corresponds to the orientation of alocal reference system R (x, y) in the fixed reference system Ro (Xo,Yo). The fixed reference system Ro corresponds to an initial referencein an idle phase of the machine 10 in the local reference system. Theangle Ω and the coordinates of the machine 10 in the local referencesystem R(x,y) are given by the gyrolaser 56.

The fixed reference system Ro is characterized by a set of unit vectors(i, j), respectively representing, the direction of the axes OXo, OYo.In one embodiment, the fixed reference system Ro is a Cartesianreference system joined to the examination table 14, when this table isfixed to the ground through the frame 15. In this case, the x-axis OXoof the fixed reference system corresponds to the horizontal plane of theexamination table 14. In one variant, the fixed reference system Ro maybe any unspecified, predefined Cartesian reference system in the room 9.

The reading system 59 is coupled to the processing unit 50 by thecommunications bus 88 and transmits information elements to it on theangle Ω and on the coordinates of the machine 10 relative to the localreference system. These information elements constitute the absoluteposition of the machine 10.

The processing unit 50 drives the traction motor 34 and the directionmotor 42, proper to the wheels 36, in managing the supply of energy as afunction of the absolute position of the machine 10 and the path 67 tobe followed.

Since, during one full rotation of the gyrolaser 56, the mobile base 16will have moved, the measurement of absolute position should besupplemented by other measurements to improve its position.

To obtain these supplementary measurements, an angular position sensor60 is planned on the direction motor 42. This angular sensor 60 is usedto find out the orientation of the driving and directional wheel 36 ateach instant. The angular position sensor 60 can be of many types, forexample an optical sensor, a resolver type or synchro type rotarytransformer sensor etc.

Furthermore, the traction motor 34 is also provided with a wheel speedsensor 61. The information coming from the signals of the set of sensors60 and 61 constitute the relative position of the machine 10. Thisrelative position of the machine 10 enables the processing unit 50 toupdate the absolute position should there be a decline in the precisionof the laser measurement.

At each point in time, the processing unit 50 makes a relatively preciseestimation of the speed of each wheel relative to the ground, bycombining data on the relative position of the machine 10 with data onabsolute position.

The traction motor 34 is controlled by a traction variator 62. Thedirection motor 42 is controlled by a direction variator 63. Thistraction variator 62 and direction variator 63 are connected to theprocessing unit 50 through the communications bus 88. The variators 62and 63 respectively receive instructed values of speed and directionfrom the processing unit 50 which they convert into current and intovoltage for each motor.

The traction variator 63 and the direction variator 63 are used togenerate an electrical differential as a function of the instructionssent out by the processing unit.

These differentials are designed to share the propulsion force and therotational angles between the two wheels 36 and 37 so that they cantravel along the programmed path 67. The processing unit 50, using thevariators, dictates the currents in the traction and direction motors asa function of information representing especially the speed and angulardirection of the driving wheels 36 and 37 as measured, and instructedvalues on the positioning of the operator, the absolute position of theX-ray machine 10 and the path 67 to be followed.

The machine 10 is furthermore provided with a safety system 64 coupledby the communications bus 88 with the processing unit. The safety system64 has a set of sensors (not shown) whose signals transmitted to theprocessing unit 50 enable this unit to control the emergency stoppingsystem of the mobile base 16 and the moving parts of the machine 10 ifnecessary.

The sensors may be formed by an inclinometer, an impact sensor and aslaser sensor etc. . . .

The processing unit 50 is furthermore coupled with a device 65 forcontrolling the moving parts of the machine 10. The coupling of theprocessing unit 50 with the control device 65 can be obtained throughthe communications bus 88 or through a radio electrical link. Thiscontrol device 65 may be a joystick or a computer. In one variant, thiscontrol device 65 may be incorporated in the interface 24.

The machine 10 is furthermore provided with a sensor 66 for detectingthe rotation speed of the moving parts. The sensor 66 is coupled with aprocessing unit 50 through the communications bus 88. The signalstransmitted by this sensor 66 to the processing unit 50 enable thisprocessing unit to control the emergency stopping system of the mobilebase 16 and the moving parts of the machine 10 if necessary.

In one embodiment, the activation of the emergency stopping system maybe accompanied by a sound and/or optical alarm system.

The communications bus 88 may be an ‘RS 232’ type series link or an ADC(analogue digital converter) link.

In other words, the automatic driving of the machine 10 is implementedby means of a hardware sequence consisting of positioning sensors suchas traction encoders 61 at each traction motor 34 and 35 respectivelyand direction encoders 60 at each direction motor 42 and 43respectively, the rotational laser scanning sensor 56, the computer 50,the traction variator 62 and direction variator 63 for each turretfeature, the safety sensors and finally the actuators which are thetraction motors 34 and 35 and direction motors 42 and 43.

The embodiment of the invention described here above thus implements twodistinct navigation systems. One of the navigation systems is obtainedfrom the traction and direction encoders. The other navigation system isobtained from the rotary laser scanning sensor. This redundancy ofnavigation systems makes it possible not only to specify the absoluteposition of the X-ray machine but also to improve the safety system ofthe machine 10. Indeed, when the difference between the position givenby the rotary laser sensor and the position given by the encoders isgreater than a predefined safety threshold, the processing unitactivates the emergency stopping system of the moving parts of themachine 10 and of the mobile base 16.

The processing unit 50 is a computer device, for example a microcomputerprogrammed to determine the current of the motor according toprogrammable criteria and to fulfill additional functions pertaining tothe management and security of the machine 10.

In the description, when actions are attributed to apparatuses orprograms, it means that these actions are executed by a microprocessorof this apparatus or of the apparatus comprising the program, saidmicroprocessor being then controlled by instruction codes recorded in amemory of the apparatus. These instruction codes are used to implementthe means of the apparatus and therefore to fulfill the actionundertaken.

As illustrated in FIG. 50, the processing unit 50 comprises electroniccircuits 70 connected to the antenna 52. The role of the circuits is toprovide the radio interface between the processing unit and the externalinterfaces.

The processing unit furthermore comprises a microprocessor 71, a programmemory 72 and a data memory 73 connected to a bidirectional bus 74. Theprogram memory 72 is divided into several zones, each zone correspondingto it function or to a mode of operation of the program of the X-raymachine 10 and of the mobile base 16. Similarly, when an action isattributed to a program, this action corresponds to the implementationby a microprocessor, connected to a memory in which the program isrecorded, of all or part of the instruction codes forming said program.

Only the zones of the memory 72 that most directly concern theembodiment of the invention are shown.

A zone 75 comprises instruction codes to receive a movement signalcorresponding to the entry of an instructed value of positioning ordestination of the X-ray machine 10. The instructed value of positioningmay be a parking position or a working position coupled with anorientation of the moving parts of the machine 10.

A zone 76 comprises instruction codes to command the gyrolaser uponreception of the shift signal.

A zone 77 comprises instruction codes to extract the coordinates of theposition to be attained by the X-ray machine 10 from the data memory 34,on the basis of the signal received, in the fixed reference system.

A zone 78 comprises instruction codes to interpret the information givenby the gyrolaser in order to determine the initial absolute position ofthe machine 10 in the fixed reference system.

When the initial position determined does not correspond to any ing orworking position pre-recorded in the data memory, the instruction codesof the zone 78 compute a path to be taken by the mobile base 16 in orderto reach one of positions, namely the parking or the working position,on the basis of data given by the encoders and the gyrolaser. In oneembodiment, the processing unit computes the shortest path needed toreach the working or parking position closest to the initial position. Azone 79 comprises instruction codes to extract, from the data memory 34,a path 67 that the machine 10 must take to link the initial positionwith the position to be reached by the X-ray machine 10.

A zone 80 comprises instruction codes to determine the relative positionof the machine 10 as a function of the data given by the sensorsinstalled on the mobile base 16.

A zone 81 comprises instruction codes to give each traction motor 34 and35 and each direction motor 42 and 43 a current through the powervariators as a function of the relative position, the initial positionof the machine 10 and the path 67 to be followed.

A zone 82 comprises instruction codes to compute the absolute andrelative positions of the machine 10 at predefined computation periodsall along the path 67 to be followed. A computation period may be of theorder of some milliseconds.

A zone 83 comprises instruction codes to extract a predetermined mappingof the room 9 from the data memory 73.

A zone 84 comprises instruction codes to determine, at each computationperiod, the position of the machine 10 in the mapping as a function ofthe data given by the instruction codes of the zone 83. The instructioncodes of the zone 84 are superimposed on the path to be followed in themapping and determine whether the position of the machine 10 issubstantially in the path. In the event of deflection, the instructioncodes send a compensation command to the variators to command theshifting of the mobile base 16 in the path 67 to be followed.

In this embodiment, the invention thus makes it possible to move themachine 10 along the extracted path 67 which has been pre-computed. Theguiding function implemented by the instruction codes of the zone 84maintain the absolute position on the path in evaluating the differencesin position between the measurement coming from the locating operationand the path followed. The positional direction commands that resultfrom this are applied to the variators which themselves set up anautomatic feedback control of the motors in position and in speed.

In addition to the guidance, a navigation function can be implemented bythe instruction codes of the zone 84 in order to carry out a schedulingof the traction speeds along the path and transmit control commandsaccordingly to the variators. The variators thus set up an automaticfeedback control between the traction and direction motors.

One part of the safety function is implemented at this level by acoupling between direction and traction. In this case, when thedeviation of the absolute position measured at the path 67 is greaterthan or equal to a predefined threshold of deviation, the speed of themobile base 16 is reduced until it comes to a total halt.

When the machine 10 reaches the position to be reached, a zone 85comprises instruction codes to deactivate the gyrolaser. Theseinstruction codes also send out control commands to the directionvariators so that the wheels are aligned in a predefined idle position.

A zone 86 comprises instruction codes to extract a working orientationsignal of the moving parts, corresponding to the reached workingposition of the X-ray machine, from the positioning instructed value.The instruction codes of the zone 86 are also capable of allowingreception of a work orientation signal for the moving parts of the X-raymachine corresponding to the actuation of the orientation commands ofthe control device 65.

A zone 87 comprises instruction codes to control a system for drivingthe moving parts as a function of the orientation signal. This drivingsystem makes it possible to shift the arms 13, the rotating arm 18, thesupport element 17 and the mobile base 16. The shifting of these parts,which is done as a function of the orientation signal, is done in such away that the organ to be examined remains positioned throughout thediagnosis in the X-ray beam. In one embodiment, the driving system canbe activated during the phases in which the mobile base 16 is beingshifted.

The data memory 73 has a data base 90 in which predetermined parking,and working positions of the machine 10 are recorded. Thesepredetermined positions are displayed on the screen by the interfacecontrols. A parking position is a place where the X-ray machine 10 isplaced when it is in parking mode. The parking position removes theX-ray machine from the limited space needed for an operation in the room9. A working, position is a place in which the X-ray machine 10 isplaced during the acquisition of radiography exposures.

The data base 90 is, for example, structured in the form of a table. Forexample, each row of the table corresponds to the coordinates of aposition of an X-ray machine in the fixed reference system, each columnof the table corresponding to a piece of information on this position.Thus, the database 90 comprises: a row 90 a corresponding to thecoordinates of a position in the fixed reference system, a column 90 bcomprising a first field in which a signal of a working position isrecorded, a second field in which an orientation signal correspondingpredetermined working orientations of the moving, parts of the X-raymachine 10 are recorded and a third field in which a path to be followedis recorded, and a column 90 c comprising a first field in which aparking signal is recorded, and a second field in which a path to befollowed is recorded.

A working orientation is a configuration of the X-ray machine in whichthe arm 13, the rotating arm 14, the support element 17 and the mobilebase 16 are shifted to a radiography position according to theorientation signal. This shift does not affect the position of the organto be examined relative to the X-ray beam.

The data memory 73 also has a data base 91 in which a mapping of theroom 9 is recorded.

The data/memory bases have been represented only by way of anillustration of the layout of components and data recordings. Inpractice, these memories are unified and distributed according toconstraints of size of the data base and/or the speed of the processingoperations desired.

The invention is not limited to the embodiments described, here above.Indeed, in one embodiment, the man-machine interface 24 may besupplemented or replaced by a joystick-type control lever with threedegrees of freedom, along two orthogonal directions and one rotation atan angle θ. The joystick can be mounted on the mobile base 16 or set offat a distance.

The communication between the joystick and the processing unit 50 can bedone through a radioelectrical link or a wire link such as a serieslink, depending on the embodiments of the invention. The joystick sendsthe processing unit 50 control signals for the variators.

The joystick may comprise a base unit and a unit forming a movablehandle that can be tilted in every direction and can be manipulatedalong several degrees of freedom. Under the effect of the movement ofthe unit forming a handle relative to the base unit, the processing unitsends the traction variator 62 and direction variator 63 respectivelyinstructed values of speed and direction which they convert into currentand voltage for each motor. A movement of the handle-forming unitrelative to the base unit in one direction activates a command formoving the mobile base 16 in one direction or another depending on thedirection of shift programmed in the processing unit 50.

The joystick is thus capable of controlling the movements of the mobilebase 16 in the room 9 according to signals received by the processingunit 50.

The data provided by the gyrolaser to the processing unit 50 can be usedto find out the geographical position of the machine 10 in the room 9 inreal time in order to prevent possible collisions for example with theexamination table 14.

In one alternative embodiment, the interface 24 may be supplemented orreplaced by a remote control wireless type control lever capable ofsteering the movement of the mobile base 16 in two orthogonal directionsand a rotation by an angle θ.

What is claimed is:
 1. A mobile base configured to support a medicalimaging machine comprising: at least one motorized drive wheel; anoptical positioning system comprising a gyrolaser, a reading system anda memory, the system configured to compute position data correspondingto a position of the medical imaging machine in a predefined fixedreferential system on the basis of reflections from reflectorspositioned about a defined space, the positions of the reflectors storedin the memory; and a processing unit in communication with the at leastone motorized drive wheel and the optical positioning system, andconfigured to receive the position data corresponding to the position ofthe medical imaging machine and generate a corresponding output forcontrolling direction and speed of the at least one motorized drivewheel to move and orient the mobile base to one or more desiredpositions in the defined space.
 2. The mobile base of claim 1, whereinthe medical imaging system is an X-ray machine.
 3. The mobile base ofclaim 1, wherein the reflectors are catadioptric reflectors.
 4. Themobile base of claim 1, further comprising a traction encoder mounted onthe at least one motorized drive wheel, wherein the traction encoder anda direction encoder are configured to provide data relative to aposition of the X-ray machine.
 5. The mobile base of claim 2, furthercomprising a support structure comprising: a supporting arm comprisingan upper end to which the X-ray machine is designed to be fixed; and aset of structural parts resting on the floor comprising at least onewheel and being assembled with the supporting arm, wherein thesupporting arm and the set of structural parts are configured to givethe mobile base mechanical characteristics of rigidity relative to thesupporting arm.
 6. The mobile base of claim 5, wherein the set ofstructural parts comprises: a baseplate fixed to the supporting arm, thebaseplate comprising a horizontal plate on which the at least onemotorized drive wheel is installed; a crossbar fixedly joined to thebaseplate; and an element with two arms having an angle and beingfixedly joined to the crossbar, the arms being situated on a front partof the X-ray machine.
 7. The mobile base of claim 6, wherein the elementwith two arms is positioned at a determined distance so that the frontends of the arms do not collide with an X-ray tube, and the distancebetween the tube and an isocenter of the X-ray machine is maximized. 8.The mobile base of claim 6, wherein the edges of the arms and of thecrossbar are lined with vertical reinforcement parts.
 9. The mobile baseof claim 6, wherein a plastic flexible material is inserted at theposition where the crossbar and the baseplate are fixedly joined. 10.The mobile base of claim 6, further comprising at least one freewheelmounted on one end of each arm on a face before the ground, wherein theat least one freewheel is mounted so that a rotational axis of the atleast one freewheel is off-center relative to a supporting base of theat least one freewheel on the ground.
 11. The mobile base of claim 10,further comprising a braking apparatus mounted on the at least onefreewheel, wherein the braking apparatus is configured to block therotation of the at least one freewheel and keep the at least onefreewheel stopped.
 12. The mobile base of claim 6, further comprising aconnection pole having a lower end and an upper end, wherein the lowerend is fixed to the support structure and the upper end bears agyrolaser.
 13. The mobile base of claim 1, further comprising aman-machine interface in communication with the processing unit forentering at least one of instructed values of destination and instructedvalues of trajectory.
 14. The mobile base of claim 13, wherein theman-machine interface is embedded in the mobile base or placed at adistance from the mobile base.
 15. The mobile base of claim 13, whereinthe man-machine interface comprises at least one of a touchscreen, ajoystick and a remote control unit.
 16. The mobile base of claim 1,wherein the mobile base is electrically powered through a battery or amains supply.
 17. The mobile base of claim 1, further comprising asafety system comprising anti-collision and tilt sensors.
 18. The mobilebase of claim 1, wherein the processing unit is also configured toreceive inputs from a user corresponding to at least one of destination,trajectory, and orientation of the mobile base.
 19. The mobile base ofclaim 1, wherein the at least one motorized drive wheel comprises twomotorized drive wheels.
 20. An X-ray machine comprising: an X-ray tubeconfigured to emit an X-ray beam along a direction of emission; an X-raydetector aligned in the direction of emission of the X-ray beam andpositioned to face the X-ray tube, wherein the X-ray machine is mountedon a mobile base comprising: at least one motorized drive wheel; anoptical positioning system comprising a gyrolaser, a reading system anda memory, the system configured to compute position data correspondingto a position of the X-ray machine in a predefined fixed referentialsystem on the basis of reflections from reflectors positioned about adefined space, the positions of the reflectors stored in the memory; anda processing unit in communication with the at least one motorized drivewheel and the optical positioning system, and configured to receive theposition data corresponding to the position of the X-ray machine andgenerate a corresponding output for controlling direction and speed ofthe at least one motorized drive wheel to move and orient the mobilebase to one or more desired positions in the defined space.